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102 lines
3.6 KiB
C++
102 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015-2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file tailsitter.h
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*
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* @author Roman Bapst <bapstroman@gmail.com>
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* @author David Vorsin <davidvorsin@gmail.com>
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*
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*/
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#ifndef TAILSITTER_H
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#define TAILSITTER_H
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#include "vtol_type.h"
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#include <parameters/param.h>
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#include <drivers/drv_hrt.h>
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#include <matrix/matrix/math.hpp>
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// [rad] Pitch threshold required for completing transition to fixed-wing in automatic transitions
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static constexpr float PITCH_THRESHOLD_AUTO_TRANSITION_TO_FW = -1.05f; // -60°
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// [rad] Pitch threshold required for completing transition to hover in automatic transitions
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static constexpr float PITCH_THRESHOLD_AUTO_TRANSITION_TO_MC = -0.26f; // -15°
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// [s] Thrust blending duration from fixed-wing to back transition throttle
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static constexpr float B_TRANS_THRUST_BLENDING_DURATION = 0.5f;
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class Tailsitter : public VtolType
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{
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public:
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Tailsitter(VtolAttitudeControl *_att_controller);
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~Tailsitter() override = default;
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void update_vtol_state() override;
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void update_transition_state() override;
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void update_fw_state() override;
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void fill_actuator_outputs() override;
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void waiting_on_tecs() override;
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void blendThrottleAfterFrontTransition(float scale) override;
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void blendThrottleBeginningBackTransition(float scale);
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private:
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enum class vtol_mode {
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MC_MODE = 0, /**< vtol is in multicopter mode */
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TRANSITION_FRONT_P1, /**< vtol is in front transition part 1 mode */
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TRANSITION_BACK, /**< vtol is in back transition mode */
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FW_MODE /**< vtol is in fixed wing mode */
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};
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vtol_mode _vtol_mode{vtol_mode::MC_MODE}; /**< vtol flight mode, defined by enum vtol_mode */
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bool _flag_was_in_trans_mode = false; // true if mode has just switched to transition
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matrix::Quatf _q_trans_start;
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matrix::Quatf _q_trans_sp;
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matrix::Vector3f _trans_rot_axis;
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void parameters_update() override;
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bool isFrontTransitionCompletedBase() override;
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DEFINE_PARAMETERS_CUSTOM_PARENT(VtolType,
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(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off
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)
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};
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#endif
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